WO2018153091A1 - 一种多辐条型超声电机 - Google Patents

一种多辐条型超声电机 Download PDF

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Publication number
WO2018153091A1
WO2018153091A1 PCT/CN2017/103728 CN2017103728W WO2018153091A1 WO 2018153091 A1 WO2018153091 A1 WO 2018153091A1 CN 2017103728 W CN2017103728 W CN 2017103728W WO 2018153091 A1 WO2018153091 A1 WO 2018153091A1
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WIPO (PCT)
Prior art keywords
stator
spoke
ultrasonic motor
rotor
type ultrasonic
Prior art date
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Ceased
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PCT/CN2017/103728
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English (en)
French (fr)
Inventor
杨颖�
瓦西尔耶夫皮奥特尔
马泽卡达柳斯
鲍罗廷谢尔盖
邱建敏
洪鑫
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to US16/480,218 priority Critical patent/US11152874B2/en
Priority to JP2019564572A priority patent/JP7025454B2/ja
Priority to EP17898309.4A priority patent/EP3553938B1/en
Publication of WO2018153091A1 publication Critical patent/WO2018153091A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/12—Constructional details
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
    • H02N2/163—Motors with ring stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/001—Driving devices, e.g. vibrators
    • H02N2/002—Driving devices, e.g. vibrators using only longitudinal or radial modes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/005—Mechanical details, e.g. housings
    • H02N2/0065—Friction interface
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/103—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors by pressing one or more vibrators against the rotor

Definitions

  • the invention relates to the technical field of ultrasonic motors, and in particular to a multi-spoke type ultrasonic motor.
  • DC motors are widely used as drive motors, but the Joule heat loss of the motor increases sharply with the reduction in size, which greatly reduces the drive capability.
  • Ultrasonic motors use the inverse piezoelectric effect and friction of materials to convert electrical energy into mechanical energy. As the size decreases, the mechanical performance of the motor decreases slightly, which is beneficial to the miniaturization and miniaturization of the motor.
  • the existing traveling wave type ultrasonic motor has good output performance, but as the space size of the motor is reduced, the processing precision of the part is sharply increased.
  • the structural design reduces the precision requirements of parts processing, which is the main work of the ultrasonic motor in miniaturization.
  • the invention utilizes a ring with a spatially rotationally symmetric tooth to form a stator, and the working mode of the spherical or conical rotor is driven by friction, thereby improving the mechanical performance of the ultrasonic motor while reducing the processing requirements of the part.
  • the embodiment of the invention provides a multi-spoke type ultrasonic motor capable of improving the output performance of the ultrasonic motor, having a long service life and low manufacturing cost.
  • Rotary shaft (1), fastening sleeve (2), spring (3), rotor (4), stator (5), fastening screw (6) and piezoelectric ceramic (7), said rotor (4), stator (5), the spring (3) and the fastening sleeve (2) are sequentially connected by the rotating shaft (1);
  • the fastening screw (6) is located in the middle of the side of the fastening sleeve, and is adjusted by adjusting the fastening screw (6)
  • the fastening sleeve (2) slides on the rotating shaft (1) to adjust the pre-pressure of the spring (3);
  • the spring (3) is intermediate between the fastening sleeve (2) and the rotor (4) and is pressed against the rotor (4) surface;
  • the rotor (4) is a hemispherical or truncated cone shape;
  • the stator (5) is an annular metal piece of internal spoke strip teeth;
  • the stator and rotor have the same stator and rotor on both the upper
  • the center line of the inner spoke-shaped tooth of the stator (5) and the normal position of the inner ring of the stator where the root is located are at an angle ⁇ , and ⁇ is designed as needed.
  • the number of teeth of the inner spoke-shaped teeth of the stator (5) is designed according to requirements, and the spoke-shaped teeth are rotationally symmetric with the center of the stator ring as a vertex.
  • the inner spoke-shaped teeth have an angle ⁇ with the plane of the stator (5), and the angle ⁇ is within 0° and 90°.
  • the angle ⁇ is formed by bending the inner spoke-like teeth of the stator upward and downward from the root to separate the plane of the ring of the stator (5).
  • the outer ring of the stator (5) has a plurality of perforated fixing structures (10) distributed evenly on the outer ring of the stator (5).
  • the surface (9) of the stator (5) is subjected to a polishing process.
  • the rotor (4) is made of a wear resistant material.
  • the piezoelectric ceramic (7) has the same inner diameter dimension as the outer ring surface of the stator (5), and both the upper and lower piezoelectric ceramics are polarized in the thickness direction and the polarization directions are opposite.
  • the exposed portions of the upper and lower piezoelectric ceramics (7) are applied with the same electrical excitation signal by the electrodes, and the electrical excitation signal is a sine wave signal.
  • the multi-spoke type ultrasonic motor provided by the embodiment of the invention has better performance at the output torque end and the output speed end, and has the advantages of simple and compact structure, low dependence on processing precision, low driving voltage and simple excitation mode, and simultaneous fabrication. Low cost and stable and reliable output, suitable for large-scale industrial applications. Applicable For miniature helicopter motors; miniature electronic device zoom systems such as capsule endoscopes, electronic eyeballs, SLR cameras, smart phones, etc.
  • the embodiments of the invention have broad application prospects in the fields of robots, medical instruments, micromachines and aerospace science and technology.
  • FIG. 1 is a schematic structural view of a multi-spoke type ultrasonic motor according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a multi-spoke type ultrasonic motor stator according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of another multi-spoke type ultrasonic motor stator according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of operation of a multi-spoke type ultrasonic motor according to an embodiment of the present invention.
  • FIG. 5-A is a schematic diagram showing an expansion mode of a working mode radial vibration of a multi-spoke type ultrasonic motor stator according to an embodiment of the present invention
  • FIG. 5-B is a schematic diagram showing a contraction mode of a working mode radial vibration of a multi-spoke type ultrasonic motor stator according to an embodiment of the present invention
  • the embodiment of the invention provides a multi-spoke type ultrasonic motor capable of improving the output performance of the ultrasonic motor, having a long service life and low manufacturing cost.
  • Embodiments of the present invention provide a multi-spoke type ultrasonic motor, as shown in FIG. 1, comprising: a rotating shaft (1), a fastening sleeve (2), a spring (3), a rotor (4), a stator (5), a fastening screw (6) and a piezoelectric ceramic (7), the rotor (4), the stator (5), the spring (3) and the fastening sleeve (2) are sequentially connected by a rotating shaft (1), characterized in that The fastening screw (6) is located in the middle of the side of the fastening sleeve, and the fastening sleeve (2) is slid on the rotating shaft (1) by adjusting the fastening screw (6) to adjust the preload of the spring (3)
  • the spring (3) is intermediate between the fastening sleeve (2) and the rotor (4) and pressed against the surface of the rotor (4); the rotor (4) is hemispherical or conical; the stator
  • the number of teeth of the inner spoke-shaped teeth of the stator (5) is designed according to requirements, and the spoke-shaped teeth are rotationally symmetric with the center of the stator ring as a vertex.
  • the inner diameter of the piezoelectric ceramic (7) is the same as the outer ring surface of the stator (5), and both the upper and lower piezoelectric ceramics are polarized in the thickness direction and the polarization directions are opposite.
  • the upper and lower piezoelectric ceramics (7) apply the same sinusoidal electric signal through the electrodes to excite the stator vibration, and the rotor is driven to rotate by the stator spoke teeth.
  • the first-order radial vibration mode of the motor stator (5) is used as the working mode.
  • the inner spoke-like teeth of the stator (5) obtain a large displacement, and the rotor (4) is driven by friction.
  • the contact position of the rotor (4) with the stator (5) is at the inner spoke-like tooth surface of the annular stator (8); the inner spoke-like tooth center of the stator (5)
  • the angle between the line and the root of the stator in the contact position of the stator is ⁇ , and ⁇ can be designed according to actual needs.
  • the number of spoke-shaped teeth in the stator (5) is designed as needed, and the spoke-shaped teeth need to be centrally symmetrical.
  • the number of spoke-shaped teeth in the stator (5) is six, as shown in FIG. 2, uniformly distributed at the inner ring of the stator, and the projection angle of the spoke-shaped teeth (8) on the plane of the stator ring is 120°. As a group, they are divided into two groups.
  • the number of spoke-like teeth in the stator (5) of the ultrasonic motor provided by the embodiment of the present invention may be other numbers, but it is required to ensure the center rotational symmetry. As shown in FIG. 3, the number of spoke-shaped teeth in the stator is three, and the technical effects brought by different numbers of spoke-shaped teeth are also different. In the present embodiment, if the number of internal spoke teeth is three, the motor can obtain a higher output rotation speed; if the internal spoke teeth are six, the motor can obtain a large output torque.
  • Embodiments of the present invention can control the output speed and torque of the motor by varying the value of ⁇ .
  • the stator (5) is an annular metal piece of internal spoke-shaped teeth, characterized in that the inner sprung teeth and the plane of the stator (5) have The opening angle ⁇ is greater than 0° and less than 90°.
  • the opening angle ⁇ angle is greater than 0° and less than or equal to 45°
  • the number of teeth of the inner spoke-shaped teeth of the stator (5) is designed according to requirements, and the spoke-shaped teeth are rotationally symmetric with the center of the stator ring as a vertex.
  • the angle ⁇ is formed by bending the inner spoke-like teeth of the stator upward and downward from the root to separate the plane of the ring of the stator (5).
  • the angle design can make full use of the vibration energy of the stator, optimize the contact between the stator and the rotor, and increase the output torque and the rotational speed of the motor.
  • the upper and lower rotors will reduce the output efficiency of the motor due to mutual contact, and the angle design can avoid this situation and greatly extend the use of the motor. life.
  • the angle design acts as a spring, which can replace the pre-pressure spring in a small motor system, saving space.
  • the angle design makes the rotor of the motor receive a stable three-point support, and the swing of the rotating shaft during rotation is weakened, so that the motor runs smoothly.
  • the angle value ⁇ of the angle is:
  • FIG. 5-A a schematic diagram of the expansion mode of the working mode radial vibration of the multi-spoke type ultrasonic motor stator according to an embodiment of the present invention is provided;
  • B a shrink mode of a working mode radial vibration of a multi-spoke type ultrasonic motor stator according to an embodiment of the present invention Schematic diagram; a very large radial displacement can be obtained by the movement of the spoke-like teeth inside the stator (5).
  • the stator has a half interval in the contraction mode and the expansion mode.
  • the present invention optimizes the spoke-shaped teeth, and the first-order longitudinal mode frequency of the spoke-shaped teeth and the first-order radial vibration mode of the stator are changed by changing the length thereof.
  • the state frequencies are equal.
  • the outer ring of the stator (5) has three square circular hole fixing structures (10) distributed on the outer ring of the stator (5).
  • the surface (9) of the stator (5) is subjected to a polishing process.
  • stator surface (9) is polished.
  • the rotor (4) is made of a wear resistant material.
  • the piezoelectric ceramic (7) has the same inner diameter dimension as the outer ring surface of the stator (5), and both the upper and lower piezoelectric ceramics are polarized in the thickness direction and the polarization directions are opposite. Both the upper and lower piezoelectric ceramics are polarized in the thickness direction and the polarization directions are opposite, which facilitates wiring. In this embodiment, only one signal can be used to complete the electrical excitation.
  • the bare portions of the upper and lower piezoelectric ceramics (7) are applied with the same electrical excitation signal by the electrodes, and the electrical excitation signal is a sine wave.
  • the multi-spoke type ultrasonic motor provided by the embodiment of the invention has better performance at the output torque end and the output speed end, and has the advantages of simple and compact structure, low dependence on processing precision, low driving voltage and simple excitation mode, and simultaneous fabrication.
  • the cost is low, and the output is stable and reliable, suitable for large-scale industrial applications. It can be applied to micro-aircraft power units; microelectronics and medical equipment such as capsule endoscopes, etc.; and micro-optical equipment zoom systems such as capsule endoscopes, electronic eyeballs, SLR cameras, smartphone lenses, and the like.
  • the embodiments of the invention have broad application prospects in the fields of robots, medical instruments, micromachines and aerospace science and technology.

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  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

一种多辐条型超声电机，涉及电机技术领域，包括：转轴(1)、紧固套筒(2)、弹簧(3)、转子(4)、定子(5)、紧固螺钉(6)和压电陶瓷(7)，所述转子(4)、定子(5)、弹簧(3)和紧固套筒(2)，依次通过转轴(1)连接；所述定子(5)是内部辐条状齿的圆环形金属片；所述定子(5)的上表面和下表面均有相同的定子辐条状齿与转子(4)接触，转子(4)与定子(5)在弹簧(3)预压力作用下紧密接触；所述压电陶瓷(7)是圆环形片，上、下各一片分别贴于定子(5)上、下表面。该电机能够提升超声电机的输出功率。

Description

一种多辐条型超声电机 技术领域
本发明涉及超声电机技术领域，尤其涉及一种多辐条型超声电机。
背景技术
直流电机作为驱动电机广泛使用，但随着尺寸的减小电机的焦耳热损耗急剧增加，使其驱动能力大幅下降。超声电机利用材料的逆压电效应和摩擦作用将电能转化为机械能，随着尺寸的减小电机机械性能下降幅度小，有利于于电机的小型化和微型化。现有行波型超声电机具有很好的输出性能，但随着电机空间尺寸的减小，对零件的加工精度要求急剧攀升。通过结构设计降低零件加工的精度要求，是目前超声电机在小型化方面的主要工作。
本发明利用内部具有空间旋转对称齿的圆环构成定子，经摩擦驱动球形或锥形转子的工作方式，在降低零件加工要求的同时提升超声电机的机械性能。
发明内容
本发明的实施例提供一种多辐条型超声电机，能够提升超声电机输出性能，使用寿命长，制作成本低。
为达到上述目的，本发明的实施例采用如下技术方案：
本发明的实施例提供一种多辐条型超声电机，包括：
转轴(1)、紧固套筒(2)、弹簧(3)、转子(4)、定子(5)、紧固螺钉(6)和压电陶瓷(7)，所述转子(4)、定子(5)、弹簧(3)和紧固套筒(2)，依次通过转轴(1)连接；所述紧固螺钉(6)位于紧固套筒侧面中间，通过调节紧固螺钉(6)使紧固套筒(2)在转轴(1)上滑移，调节弹簧(3)的预压力；所述弹簧(3)在紧固套筒(2)和转子(4)中间，并压在转子(4)表面；所 述转子(4)是半球形或圆台形；所述定子(5)是内部辐辐条状齿的圆环形金属片；所述定子(5)的上表面和下表面均有相同的定子与转子(4)接触，转子(4)与定子(5)的辐条状齿在弹簧(3)预压力作用下紧密接触；所述压电陶瓷(7)是圆环形陶瓷片，上、下两片分别贴于定子(5)表面。
作为一种实施方式，所述定子(5)内部辐条状齿中心线与齿根所在的定子内环接触位置法线夹角为θ，θ根据需要设计。
作为一种实施方式，所述定子(5)内部辐条状齿的齿数量根据需要设计，所述辐条状齿以定子环圆心为顶点旋转对称。
作为一种实施方式，所述内部辐条状齿与定子(5)所在平面有夹角α，所述夹角α角度是0°以上90°以内。
作为一种实施方式，所述夹角α是分别从齿根向上和向下弯折定子内部辐条状齿使其离开定子(5)圆环所在平面形成。
作为一种实施方式，所述定子(5)外环有若干处带孔固定结构(10)，平均分布在定子(5)外环。
作为一种实施方式，所述定子(5)表面(9)经过抛光处理。
作为一种实施方式，所述转子(4)采用耐磨材料制作。
作为一种实施方式，所述压电陶瓷(7)的内径尺寸与定子(5)外环表面尺寸相同，上、下两片压电陶瓷均沿厚度方向极化且极化方向相反。
作为一种实施方式，电机在工作状态时，所述上、下两片压电陶瓷(7)裸露的部分被电极施加同一电激励信号，所述电激励信号是正弦波信号。
本发明实施例提供的一种多辐条型超声电机，在输出扭矩端与输出转速端均有较好的表现，且结构简单紧凑、对加工精度依赖性低，驱动电压低激励方式简单，同时制作成本低并且输出稳定可靠，适合大规模产业化应用。可应用 于微型直升机马达；微型电子设备变焦系统如胶囊内窥镜、电子眼球、单反相机、智能手机等。本发明实施例在机器人、医疗器械、微机械和航空航天科技领域有着广阔的应用前景。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明实施例提供的一种多辐条型超声电机结构示意图；
图2为本发明实施例提供的一种多辐条型超声电机定子结构示意图；
图3是本发明实施例提供的另一种多辐条型超声电机定子结构示意图；
图4为本发明实施例提供的一种多辐条型超声电机运转示意图；
图5-A为本发明实施例提供的一种多辐条型超声电机定子的工作模态径向振动时的扩张模式示意图；
图5-B为本发明实施例提供的一种多辐条型超声电机定子的工作模态径向振动时的收缩模式示意图；
具体实施方式
为使本领域技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明作进一步详细描述。下文中将详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包 括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
本发明的实施例提供一种多辐条型超声电机，能够提升超声电机输出性能，使用寿命长，制作成本低。
为达到上述目的，本发明的实施例采用如下技术方案：
本发明的实施例提供一种多辐条型超声电机，如图1所示，包括：转轴(1)、紧固套筒(2)、弹簧(3)、转子(4)、定子(5)、紧固螺钉(6)和压电陶瓷(7)，所述转子(4)、定子(5)、弹簧(3)和紧固套筒(2)，依次通过转轴(1)连接，其特征在于：所述紧固螺钉(6)位于紧固套筒侧面中间，通过调节紧固螺钉(6)使紧固套筒(2)在转轴(1)上滑移，调节弹簧(3)的预压力；所述弹簧(3)在紧固套筒(2)和转子(4)中间，并压在转子(4)表面；所述转子(4)是半球形或锥形；所述定子(5)是内部具有辐条状齿的圆环形金属片，所述定子(5)的上表面和下表面均有相同的辐条状齿与转子(4)接触，转子(4)与定子(5)辐条状齿在弹簧(3)预压力作用下紧密接触；所述压电陶瓷(7)是平整的圆环形片，上、下两片分别粘贴于定子(5)的环形表面。
作为一种实施方式，所述定子(5)内部辐条状齿的齿数量根据需要设计，所述辐条状齿以定子环圆心为顶点旋转对称。
所述压电陶瓷(7)的内径尺寸与定子(5)外环表面尺寸相同，上、下两片压电陶瓷均沿厚度方向极化且极化方向相反。
超声电机在工作状态时，所述上、下两片压电陶瓷(7)通过电极施加相同正弦电信号，激励定子振动，经定子辐条状齿驱动转子旋转。
在本发明实施例中，电机定子(5)的一阶径向振动模态作为工作模态。通过定子(5)的一阶径向振动模态，使得定子(5)内部辐条状齿获得较大的位移，通过摩擦作用驱动转子(4)。
作为一种实施方式，如图2所示，所述转子(4)与定子(5)的接触位置在环形定子内部辐条状齿面处(8)；所述定子(5)内部辐条状齿中心线与齿根所在的定子内环接触位置法线夹角为θ，θ可根据实际需要进行设计。
作为一种实施方式，所述定子(5)内部辐条状齿数量根据需要设计，所述辐条状齿需中心对称。
优选地，定子(5)内部辐条状齿的数量为6个，如图2所示，均匀的分布在定子内环处，辐条状齿(8)在定子圆环平面投影夹角呈120°的为一组，共分为两组。
本发明实施例提供的超声电机的定子(5)内部辐条状齿的数量可以为其他数量，但需要保证中心旋转对称。如图3所示，定子内部辐条状齿的数量为3个，不同数量的辐条状齿所带来的技术效果也不一样。在本分明实施例中，若内部辐条状齿为三个，则能够使电机获得较高的输出转速；若内部辐条状齿为六个，则能够使电机获得较大的输出扭矩。
本发明实施例可以通过改变θ值控制电机的输出转速与扭矩。
作为一种实施方式，如图4所示，所述定子(5)是内部幅条状齿的圆环形金属片，其特征在于，所述内部幅条状齿与定子(5)所在平面有张角α，所述张角α角度大于0°且小于90°。
在优选方案中，所述张角α角度大于0°且小于等于45°
作为一种实施方式，所述定子(5)内部辐条状齿的齿数量根据需要设计，所述辐条状齿以定子环圆心为顶点旋转对称。
作为一种实施方式，所述夹角α是分别从齿根向上和向下弯折定子内部辐条状齿使其离开定子(5)圆环所在平面形成。
如图4所示，电机在运转时，P是弹簧预压力，M是驱动扭矩。夹角α如图所示。在本实施例中，采用夹角α设计带来的有益效果是：
其一，所述夹角设计可充分利用定子的振动能量，优化了定转子之间的接触，增大电机输出扭矩与转速。
其二，由于电机工作时长时间的接触摩擦会磨损定子辐条齿，使上下两转子因相互接触而降低电机的输出效率，而夹角的设计可以避免这种情况的发生，极大地延长了电机使用寿命。
其三，所述夹角设计起到弹簧作用，在微小的电机系统中可取代预压力弹簧，节省空间。
其四，所述夹角设计使电机转子收到稳定的三点支撑，减弱转轴在转动时的摆动，使电机平稳运转。
根据设计需要，所述夹角的角度值α为：
0≤α≤90°
在定子(5)处于工作模态时，如图5-A所示，为本发明实施例提供的一种多辐条型超声电机定子的工作模态径向振动时的扩张模式示意图；图5-B，为本发明实施例提供的一种多辐条型超声电机定子的工作模态径向振动时的收缩模 式示意图；通过定子(5)内部辐条状齿的运动，可获得非常大的径向位移。
在振动模态的一个周期T内有：
Figure PCTCN2017103728-appb-000001
其中，定子在收缩模式和扩张模式时间间隔为半个周期。
为了增大所述定子内环处辐条状齿的位移，本发明对辐条状齿做出了优化，通过改变其长度使得辐条状齿的一阶纵振模态频率与定子一阶径向振动模态频率相等。
作为一种实施方式，如图2所示，所述定子(5)外环有三处方形圆孔固定结构(10)，平均分布在定子(5)外环。
作为一种实施方式，所述定子(5)表面(9)经过抛光处理。
为了更好地粘接压电陶瓷(7)与定子(5)，并且使压电陶瓷粘接面电极与定子基体导通，定子表面(9)经过抛光处理。
作为一种实施方式，所述转子(4)采用耐磨材料制作。
作为一种实施方式，所述压电陶瓷(7)的内径尺寸与定子(5)外环表面尺寸相同，上、下两片压电陶瓷均沿厚度方向极化且极化方向相反。上、下两片压电陶瓷均沿厚度方向极化且极化方向相反的设计，便于接线，本实施例中仅用一路信号即可完成电激励。
作为一种实施方式，电机在工作状态时，所述上、下两片压电陶瓷(7)的裸露部分被电极施加同一电激励信号，所述电激励信号是正弦波。
本发明实施例提供的一种多辐条型超声电机，在输出扭矩端与输出转速端均有较好的表现，且结构简单紧凑、对加工精度依赖性低，驱动电压低激励方式简单，同时制作成本低,并且输出稳定可靠，适合大规模产业化应用。可应用于微型飞行器动力装置；微型电子及医疗设备如胶囊内窥镜的驱动等；以及微型光学设备变焦系统如胶囊内窥镜、电子眼球、单反相机、智能手机镜头等。 本发明实施例在机器人、医疗器械、微机械和航空航天科技领域有着广阔的应用前景。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于设备实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。

Claims (10)

  1. 一种多辐条型超声电机，包括：转轴(1)、紧固套筒(2)、弹簧(3)、转子(4)、定子(5)、紧固螺钉(6)和压电陶瓷(7)，所述转子(4)、定子(5)、弹簧(3)和紧固套筒(2)，依次通过转轴(1)连接，其特征在于：所述紧固螺钉(6)位于紧固套筒侧面中间，通过调节紧固螺钉(6)使紧固套筒(2)在转轴(1)上滑移，调节弹簧(3)的预压力；所述弹簧(3)在紧固套筒(2)和转子(4)中间，并压在转子(4)表面；所述转子(4)是半球形或锥形；所述定子(5)是内部具有辐条状齿的圆环形金属片，所述定子(5)的上表面和下表面均有相同的辐条状齿与转子(4)接触，转子(4)与定子(5)辐条状齿在弹簧(3)预压力作用下紧密接触；所述压电陶瓷(7)是平整的圆环形片，上、下两片分别粘贴于定子(5)的环形表面。
  2. 根据权利要求1所述的一种多辐条型超声电机，其特征在于：所述定子(5)内部辐条状齿与齿根所在的定子环面具有夹角，所述定子(5)内部辐条状齿绕定子环中心旋转对称。
  3. 根据权利要求1所述的一种多辐条型超声电机，其特征在于：所述压电陶瓷(7)的内径尺寸与定子(5)外环表面尺寸相同，上、下两片压电陶瓷均沿厚度方向极化且极化方向相反。
  4. 根据权利要求1所述的一种多辐条型超声电机，其特征在于：超声电机在工作状态时，所述上、下两片压电陶瓷(7)通过电极施加相同正弦电信号，激励定子振动，经定子辐条状齿驱动转子旋转。
  5. 根据权利要求1所述的一种多辐条型超声电机，所述定子(5)是内部幅条状齿圆的环形金属片，其特征在于，所述内部幅条状齿与定子(5)所在平面有夹角α，所述夹角α角度大于0°且小于90°。
  6. 根据权利要求1所述的一种多辐条型超声电机，其特征在于，所述夹角α角度大于0°且小于等于90°
  7. 根据权利要求1所述的一种多辐条型超声电机，所述内部幅条状齿与定子(5)所在平面有夹角，其特征在于：所述夹角α是分别从齿根向上和向下弯折定子内部辐条状齿使其离开定子(5)圆环所在平面形成。
  8. 根据权利要求1所述的一种多辐条型超声电机，其特征在于：所述定子(5)外环有若干处带孔固定结构(10)，平均分布在定子(5)外环。
  9. 根据权利要求3所述的一种多辐条型超声电机，其特征在于：所述定子(5)表面(9)经过抛光处理；
    定子(5)内部辐条状齿的数量为3个；
    或者，定子(5)内部辐条状齿的数量为6个；
    或者，定子(5)内部辐条状齿的数量为n个,n≥3。
  10. 根据权利要求1所述的一种多辐条型超声电机，其特征在于：电机在工作状态时，所述上、下两片压电陶瓷(7)裸露的部分被电极施加同一电激励信号，所述电激励信号是正弦波。
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JP2020507304A (ja) 2020-03-05
CN107046380B (zh) 2019-04-19

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